The dynamics of each swarm agent is described by the Dubins Car model [1]}:
\(&p_{x,k+1}=p_{x,k}+u_s\cos (\theta _k)\delta t +w_{px,k}, \\& p_{y,{k+1}}=p_{y,k}+u_s\sin (\theta _k)\delta t +w_{py,k}, \\& \theta _{k+1} = \theta _k +\frac{u_s}{L}\tan (u_\phi )\delta t +w_{\theta ,k}, \) 
